Research

Developed software architecture for path planner, trajectory optimization, and MPC controller implementations in Python running on ROS2 quadcopter hardware platforms.  

Trajectory optimization utilizes CasADi and ipopt to perform dynamic feasibility planned paths. Cross-entropy method (CEM) sampling-based path planner with a extended Kalman filter with three objective function optimization steps.

MPC controller utilizes CEM sampling-based path planner to perform continuous trajectory optimization in pseudo-real time on quadcopter hardware (in progress), even with fixed-horizon planning to take into account uncertainty distributions.

In collaboration with Keiko Nagami, advised by Mac Schwager. See project slide deck here, project paper here, and flight video here.

Designed omni-directional hexacopter with collision resilient tensegrity structure from ground up. Includes custom interchangeable motor modules mounted axially on tensegrity rods. Developed and updated Matlab script to determine geometry and forces on tensegrity system, as well as specific loads on key components in motor modules. Used values to drive design and simulation of components designed in Solidworks.

Performed motor and propeller downselect based on thrust, weight, current draw, and other factors. Analyzed required current draw and thrust for different flight orientations to drive battery requirements. 

Designed and developed motor module test setup on Tyto Robotics Series 1580 motor test stand. Validated motor module design in base module configuration and full rod configuration and created lookup table for PWM to thrust for control system development.

In collaboration with Clark Zha and Ted Zhang, advised by Mark Mueller. See assembly timelapse here.

Designed belleville spring endcaps for tensegrity structure to optimize manufacturing and assembly, collected empirical data for 16 series spring design. Utilized Matlab simulation script to determine geometry and forces on tensegrity system. Used key values to outline design specifications for test rig and prototype design.

Designed test rig for endcaps to apply static loads based on expected cable tensions. Documented test procedures and performed testing to improve upon spring endcap design.

Implemented bidirectional propeller code with new characterized motors and propellers constants . Converted and modularized past reorientation control code to be interchangeable for different quadcopter sizes/designs. See hover flight test video here.

Mentored by Clark Zha and Ryan Dimick, in collaboration with Charlie Bright, Julian Garcia, Jill Alexander, and Remi Bussac.

Created multiple plunging jet nozzle designs for review in Solidworks, including CNC milled PVC enclosure, polycarbonate plating assembly, and 3D printed direct connection nozzle.

Final nozzle design: 3D printed and tapped with NPT 1 1/4" pipe thread, utilized pipe putty and tape to seal top nozzle hole and coated inner surfaces of nozzle body with epoxy and silicone as sealant.

Designed and prototyped mounting inserts for PC2 polycarbonate honeycomb flow straighteners to keep constant flow rate and pressure for flow tank's exhaust pipe.

Mentored by Nicole Farias, advised by Simo Mäkiharju.

Purchased NEMA 23 stepper motors based on specifications of previous obsolete motors and gearboxes, decreasing electronics volume by 90%.

Designed and 3D printed transitional connector to attach new motor to linear stage due to clearance issues as well as an electronics enclosure. 

Created Arduino-based electronics setup with motor controllers to interface with motors using custom Arduino script for direct motor control.

Wrote Matlab script to send continuous user input to custom Arduino control script to control the linear stage motors and return positional data. Link to control guide here.